EP2348807B1 - Récolte sélective sur une parcelle de terrain au moyen d'une machine à cueillir les fruits - Google Patents

Récolte sélective sur une parcelle de terrain au moyen d'une machine à cueillir les fruits Download PDF

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Publication number
EP2348807B1
EP2348807B1 EP09818814.7A EP09818814A EP2348807B1 EP 2348807 B1 EP2348807 B1 EP 2348807B1 EP 09818814 A EP09818814 A EP 09818814A EP 2348807 B1 EP2348807 B1 EP 2348807B1
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EP
European Patent Office
Prior art keywords
harvesting
stream
parcel
land
area
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EP09818814.7A
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German (de)
English (en)
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EP2348807A1 (fr
Inventor
Jean-Paul Berthet
Thierry Le Briquer
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CNH Industrial France SAS
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CNH France SA
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/28—Vintaging machines, i.e. grape harvesting machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D91/00—Methods for harvesting agricultural products
    • A01D91/04—Products growing above the soil

Definitions

  • the invention relates to a machine and method for selective harvesting of a parcel of land.
  • the invention applies in particular to the domain of mechanised harvesting of fruit growing on trees or bushes, such as grapes, berries or olives.
  • Fruit is conventionally harvested by a shaker assembly that straddles a row of plants to detach the harvest.
  • the harvested stream obtained is then conveyed into the machine to feed it into at least one storage hopper.
  • mechanised harvesting offered no satisfactory solution for selecting the harvested fruit as a function of a harvesting criterion.
  • manual harvesting of grapes enables the harvested grapes to be separated as a function of their quality and/or the yield so as to optimise subsequent vinification.
  • International patent application WO 2007/050192 A discloses a method for dividing a field into zones with similar crop attributes and developing a mission plan for steering the harvester to selectively harvest crops based on one or more of the attributes.
  • the attributes include protein level, starch level, oil level, sugar content, moisture level, digestible nutrient level, or any other crop characteristic of interest.
  • the method can be applied to selectively harvest and/or segregate according to attribute any crop, including grains such as wheat, corn, or beans, fruits such as grapes, and forage crops. Directed crop sampling provides absolute value and variance information for segregated batches of harvested crop.
  • the invention aims to propose a machine and method for mechanised selective harvesting enabling automatic separation of the harvest as a function of at least one harvesting criterion.
  • the invention proposes a harvesting machine comprising a motorised support structure on which are mounted:
  • the invention proposes a method of selective fruit harvesting of a parcel of land by means of a harvesting machine according to the first aspect of the invention, said method comprising:
  • the invention concerns a method for selectively harvesting a parcel of land by means of a harvesting machine.
  • the description is given with reference to a grape harvesting machine for the mechanised harvesting of grapes, in particular with a view to subsequent vinification.
  • the invention can be applied to the harvesting of other types of agricultural produce, in particular other fruits, using an appropriate harvesting machine.
  • a grape harvesting machine conventionally includes a motorised support structure that is equipped with a driver station and a harvesting assembly mounted on said structure.
  • the grape harvesting machine is adapted to straddle at least one row of vines so that, as it travels, the individual vine stocks are introduced successively into the harvesting assembly, which is adapted to detach the harvest so as to supply a harvested fruit stream.
  • the harvesting assembly includes vine shakers, in particular a row of shakers on each side of the space into which the vine stocks are introduced.
  • the grape harvesting machine also includes a system for continuously recovering the detached harvest, which contains, in addition to the detached grape berries G, juice, leaves F, wood particles and bunches of various sizes.
  • the system includes two bucket conveyors adapted to recover the detached harvest below the introduction space and to convey said harvest into the upper portion of the harvesting machine.
  • At least two receptacles 1 for storing the harvested stream and a system for feeding a respective receptacle 1 with said stream.
  • the grape harvesting machine includes two hoppers 1 d, 1 g for storing the harvest, respectively on the right-hand side and the left-hand side, said hoppers being equipped with an auger 2 for distributing the harvest stored over said hopper.
  • the feeding system includes two upper conveyors 3d, 3g for feeding a hopper 1 d, 1g along a respective feed path with the stream coming from the harvesting assembly.
  • each bucket conveyor tips a harvested stream onto the belt of an upper conveyor 3g, 3d, said belt being moved toward the corresponding hopper 1 g, 1 d along an upward path 4g, 4d.
  • a suction system 5g, 5d is provided above each feed path to eliminate from the harvested stream the constituents other than grape berries G, in particular leaves F and wood particles.
  • the selective harvesting method divides the parcel of land to be harvested into geographical areas as a function of at least one harvesting criterion of said area, in particular a qualitative and/or quantitative criterion.
  • the harvesting criterion can in particular be a function of the value of at least one harvest parameter such as the yield, the maturity of the fruit (sugar content and/or pH).
  • the harvesting criterion can be a function of a parameter, a number of parameters or a combination of parameters.
  • the parcel of land can be divided into two geographical areas, a first area in which the harvest parameter is below a quantitative and/or qualitative threshold and a second area in which said parameter is above said threshold.
  • the parcel of land to be harvested can be divided into areas before the start of the harvest.
  • data relating to the harvest to be performed can be collected, for example by analysing aerial or satellite photographs of the parcel of land and/or by sampling measurements of the parameters in the parcel of land.
  • This data can then be processed by computer to generate a map in which the geographical coordinates of the areas of the parcel of land are partitioned as a function of the chosen harvesting criterion.
  • This digital map can be stored on a computer in the form of a database linking each geographical coordinate to the area to which it belongs.
  • the map can be generated at the request of the harvester operator and in a manner that can be modified, in particular by selecting the relevant criterion or criteria, possibly a combination of criteria, the number of distinct harvesting areas in the parcel of land, and the precision of the geographical grid of said parcel of land.
  • the selective harvesting method aims at separating the harvest as a function of at least one harvesting criterion. To this end, it dedicates each of the receptacles 1 to storing harvest coming from at least one distinct area.
  • the parcel of land can be divided into a number of areas that is equal to the number of receptacles 1, the harvest from each area being stored in a respective receptacle 1.
  • the parcel of land is mapped in two areas as a function of the threshold of a parameter, the harvest for which the parameter is above the threshold is stored in one hopper 1g/1d and the harvest for which the parameter is below said threshold is stored in the other hopper 1d/1g.
  • Upon emptying each hopper 1g, 1d it is therefore possible to handle the two types of harvest separately, in particular for subsequent vinification in the case of harvesting grapes.
  • the iterative harvesting steps described hereinabove are carried out at a frequency that can be adapted, on the one hand, to the speed at which the machine travels in the parcel of land and, on the other hand, to the accuracy of the map produced.
  • the harvesting machine includes a device for determining the location of said machine in the parcel of land, in particular an absolute positioning device of the GPS (Global Positioning System) or of the DGPS (Differential Global Positioning System) type.
  • a device for determining the location of said machine in the parcel of land in particular an absolute positioning device of the GPS (Global Positioning System) or of the DGPS (Differential Global Positioning System) type.
  • the iterative determination of the harvesting area can be achieved by comparing machine location data from the positioning device and the geographical coordinates of the mapped areas.
  • the harvesting machine is equipped with software for determining the distinct harvesting area that corresponds to its location, said software being loaded beforehand with the database relating to the generated map.
  • the selective harvesting method then, as a function of the harvesting area determined, automatically actuates the feeding system to store the harvested stream from said area in the receptacle 1 that is dedicated to it. Furthermore, on determining a passage of the machine from one harvesting area to another, actuation of the feeding system can be delayed so as to wait for the harvest from the new area to reach said feeding system via the harvesting assembly.
  • the harvest is fed by the bucket conveyors running at a speed that is equal and opposite to the travelling speed of the harvesting machine in the vineyard, in order to avoid friction between the buckets and the vine stocks. Consequently, upon entering the new area the feeding of one or the other of the receptacles 1 must change after the machine has travelled a predetermined distance, which corresponds to the length of the bucket conveyors between the point at which the harvest is received below the shakers and the point at which it is tipped onto the feeding system.
  • the feeding system includes a lower conveyor 6 for feeding a respective hopper 1g, 1d as a function of the conveyor direction and a device for guiding the stream which, for each feeding path, can be altered between an open state wherein the stream passes along said feed path, and a closed state wherein the stream is diverted onto the lower conveyor 6.
  • the harvesting machine also includes a device for controlling the feeding system that is adapted to alter the feeding system automatically as a function of the distinct harvesting area that has been determined, for storing the harvested fruit stream coming from said area in the receptacle 1 that is dedicated to it.
  • control device is adapted to impose, as a function of the hopper 1g, 1 d to be fed with the stream, the open or closed state of the device for guiding the stream and the direction of movement of the belt of the lower conveyor 6.
  • the conveying direction imposed for the lower conveyor 6, in particular by a hydraulic motor corresponds to that for feeding the hopper 1g/1d for which the feed path is open.
  • the device for guiding the stream is controlled so that the open - respectively closed - state of one feed path corresponds to the closed - respectively open - state of the other feed path.
  • the device for guiding the stream includes the two end portions of the lower conveyor 6 and means for moving said lower conveyor between two positions in which each end portion respectively opens and closes a feed path.
  • the conveyor 6 can be mounted on transverse rails, the means for moving it including a hydraulic ram.
  • the device for guiding the stream includes, for each feed path, at least one deflector 7g, 7d delimiting said feed path.
  • a deflector 7g, 7d delimits externally each of the feed paths between the end of the upper conveyor 4g, 4d and the corresponding hopper 1g, 1d.
  • This control thus is completely automatic, in comparison with a manual intervention by the driver of the machine, particularly simple and fast to carry out, which enables particularly reliable and adaptable implementation of the selective harvesting method of the invention.
  • the deflectors 7d, 7g are movable between an open position in which the stream passes along the feed path and a closed position in which the stream is diverted onto the lower conveyor 6.
  • This variant can be used with a lower conveyor 6 that has a fixed position relative to the hoppers 1d, 1g or with a movable conveyor 6 as described hereinabove.
  • the harvesting machine includes a single hopper 1 for storing the harvest, said hopper being compartmented to form distinct storage receptacles dedicated to respective harvesting areas.
  • a guide device including a movable conveyor and/or deflector can be used to feed such receptacles 1 selectively with the harvested stream.
  • the hopper is provided with a compartmentation wall that is mobile to form two receptacles 1 of variable volume.
  • the hopper can be compartmented into more than two receptacles 1, for instance three receptacles, so as to be able to divide the parcel of land into more than two distinct areas the harvest from which is stored separately.
  • the harvesting machine can comprise means for determining a filling state of the receptacles 1 and a device for moving the compartmentation wall to vary the volume of the receptacles 1 as a function of said state.
  • the determination means can include weighing means and/or a sensor of the level to which each receptacle 1 is filled, in particular an ultrasound level sensor.
  • the volume of the receptacles 1 can be adapted before carrying out the iterative harvesting steps, in particular after emptying the receptacles 1.
  • the map of the parcel of land shows the area or areas to be harvested, making it possible to estimate the quantity of harvest that must be stored in each of the receptacles 1 until they are next emptied.
  • the compartmented hopper can have exactly the same capacity as the hoppers of prior art harvesting machines, so as to retain the same hopper emptying locations at the end of vine rows.
  • the selective harvesting method can further include an iterative harvesting step that determines at least one harvest parameter, in particular a harvest parameter used in the criterion for land parcel subdivision.
  • the harvesting machine can be equipped with sensors, for example sensors measuring a parameter of the harvested stream.
  • sensors for example sensors measuring a parameter of the harvested stream.
  • weight sensors for measuring the harvested stream and deriving therefrom the yield rate
  • NIR near infrared
  • pH sensors for measuring the sugar content
  • the parameter determined can be stored in relation to the location of the harvesting machine at the moment said parameter was determined or, more advantageously, to the location of the vines from which the measured fruit originated.
  • the parcel of land can be subdivided using, on its own or in addition to other data, at least one parameter stored during earlier harvesting, in particular the previous harvesting, of said parcel of land.
  • the parameters stored during the previous harvest can be used to adapt intervention to the requirements resulting from said parameters, in particular pruning or spreading a product such as fertiliser or a phyto-sanitary product.
  • the iterative determination of the harvesting area in which the machine is located can include comparing the parameter determined and the criterion corresponding to the areas. In particular, if according to the map of the parcel of land the machine is located in an area in which a harvesting parameter is above - or below - a threshold, it is possible to verify this criterion by measuring the parameter concerned in situ.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Combines (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (20)

  1. Machine récolteuse comprenant une structure porteuse motorisée sur laquelle sont montés :
    - un ensemble de récolte agencé pour délivrer un flux de récolte ;
    - au moins deux réceptacles (1 d, 1 g) de stockage dudit flux ; et
    - un système d'alimentation d'un réceptacle respectif (1) avec ledit flux, ladite machine comprenant en outre :
    - un dispositif de localisation de ladite machine dans la parcelle où la machine récolte, la parcelle étant divisée en zone géographiques;
    - un dispositif de détermination de la zone correspondant à ladite localisation ; et
    - un dispositif agencé pour, en fonction de la zone déterminée, actionner automatiquement le système d'alimentation pour stocker le flux de récolte provenant de ladite zone dans le réceptacle qui lui est dédié,
    ladite machine étant caractérisée en ce qu'elle comprend :
    un moyen convoyeur supérieur (3g, 3d) pour alimenter les réceptacles (1 d, 1g) selon un chemin d'alimentation respectif en flux provenant de l'ensemble de récolte ;
    un convoyeur inférieur (6) d'alimentation de respectivement un réceptacle respectif (1 g, 1 d) en fonction du sens de convoyage ; et
    un dispositif de guidage du flux de récolte qui, pour chaque chemin d'alimentation, est actionnable entre un état ouvert de passage dudit flux dans ledit chemin d'alimentation et un état fermé de déviation dudit flux sur le convoyeur inférieur (6), le dispositif d'actionnement étant agencé pour imposer les états ouvert ou fermé du dispositif de guidage du flux ainsi que le sens de déplacement du convoyeur inférieur (6) en fonction du réceptacle (1g, 1d) à alimenter en flux.
  2. Machine récolteuse selon la revendication 1, caractérisée en ce que les réceptacles comprennent deux bennes (1 g, 1 d) de stockage de la récolte.
  3. Machine récolteuse selon la revendication 1 ou 2, caractérisée en ce que le moyen convoyeur supérieur comprend deux convoyeurs supérieurs (3g, 3d) pour alimenter chacun un réceptacle (1g, 1d) dans un chemin d'alimentation respectif.
  4. Machine récolteuse selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif de guidage du flux de récolte est agencé pour que l'état ouvert - respectivement fermé - d'un chemin d'alimentation corresponde à l'état fermé - respectivement ouvert - de l'autre chemin d'alimentation.
  5. Machine récolteuse selon la revendication 4, caractérisée en ce que le dispositif de guidage du flux comprend les deux parties extrêmes du convoyeur inférieur et des moyens de déplacement dudit convoyeur inférieur entre deux positions dans lesquelles chaque partie extrême respectivement ouvre et ferme un chemin d'alimentation.
  6. Machine récolteuse selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif de guidage du flux comprend, pour chaque chemin d'alimentation, au moins un déflecteur (7g, 7d) de délimitation dudit chemin d'alimentation.
  7. Machine récolteuse selon la revendication 6, caractérisée en ce que les déflecteurs (7g, 7d) sont déplaçables entre une position ouverte de passage du flux dans le chemin d'alimentation et une position fermée de déviation du flux sur le convoyeur inférieur (6).
  8. Machine récolteuse selon l'une quelconque des revendications précédentes, caractérisée en ce qu'elle comprend une benne de stockage de récolte, ladite benne étant compartimentée pour former les réceptacles (1) de stockage.
  9. Machine récolteuse selon la revendication 8, caractérisée en ce que la benne est pourvue d'une paroi de compartimentage qui est mobile de sorte à pouvoir former des réceptacles (1) de volume variable.
  10. Machine récolteuse selon la revendication 9, caractérisée en ce qu'elle comprend en outre un moyen de détermination d'un état de remplissage des réceptacles (1), et un dispositif de déplacement de la paroi de compartimentage pour faire varier le volume des réceptacles (1) en fonction dudit état.
  11. Procédé de récolte sélective d'une parcelle au moyen d'une machine récolteuse selon l'une quelconque des revendications précédentes, ledit procédé prévoyant de :
    - diviser la parcelle en zones géographiques en fonction d'au moins un critère de récolte de ladite zone ;
    - dédier chacun des réceptacles (1) au stockage de la récolte provenant d'au moins une zone différente ;
    ledit procédé comprenant les étapes itératives de récolte prévoyant de :
    - localiser la machine récolteuse dans la parcelle ;
    - déterminer la zone correspondant à ladite localisation ;
    - en fonction de ladite zone, actionner automatiquement le système d'alimentation pour stocker le flux de récolte provenant de ladite zone dans le réceptacle (1) qui lui est dédié.
  12. Procédé de récolte sélective selon la revendication 11, caractérisé en ce que la parcelle est divisée en un nombre de zones qui est égal au nombre de réceptacles (1), la récolte provenant de chaque zone étant stockée dans respectivement un réceptacle (1).
  13. Procédé de récolte sélective selon la revendication 11 ou 12, caractérisé en ce que la parcelle est divisée en zones préalablement à la réalisation des étapes itératives de récolte.
  14. Procédé de récolte sélective selon la revendication 13, caractérisé en ce que la division de la parcelle est réalisée sous la forme d'une cartographie des zones dans ladite parcelle.
  15. Procédé de récolte sélective selon la revendication 14, caractérisé en ce que la détermination itérative de la zone de récolte est réalisée par comparaison entre des données de localisation de la machine récolteuse et les coordonnées géographiques des zones cartographiées.
  16. Procédé de récolte sélective selon l'une quelconque des revendications 11 à 15, caractérisé en ce que le critère de récolte est fonction de la valeur d'au moins un paramètre de la récolte.
  17. Procédé de récolte sélective selon la revendication 16, caractérisé en ce qu'il comprend en outre une étape itérative de récolte prévoyant de déterminer au moins un paramètre de la récolte.
  18. Procédé de récolte sélective selon la revendication 17, caractérisé en ce que le paramètre déterminé est enregistré en relation avec la localisation de la machine récolteuse.
  19. Procédé de récolte selon la revendication 18, caractérisé en ce que la division de la parcelle est réalisée en utilisant au moins un paramètre enregistré lors d'une récolte antérieure de ladite parcelle.
  20. Procédé de récolte sélective selon l'une quelconque des revendications 17 à 19, caractérisé en ce que la détermination itérative de la zone de récolte comprend la comparaison entre le paramètre déterminé et le critère correspondant aux zones.
EP09818814.7A 2008-10-06 2009-10-06 Récolte sélective sur une parcelle de terrain au moyen d'une machine à cueillir les fruits Active EP2348807B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0805511A FR2936682B1 (fr) 2008-10-06 2008-10-06 Procede de recolte selective d'une parcelle au moyen d'une machine recolteuse
PCT/EP2009/062992 WO2010040760A1 (fr) 2008-10-06 2009-10-06 Récolte sélective sur une parcelle de terrain au moyen d'une machine à cueillir les fruits

Publications (2)

Publication Number Publication Date
EP2348807A1 EP2348807A1 (fr) 2011-08-03
EP2348807B1 true EP2348807B1 (fr) 2013-07-31

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EP09818814.7A Active EP2348807B1 (fr) 2008-10-06 2009-10-06 Récolte sélective sur une parcelle de terrain au moyen d'une machine à cueillir les fruits

Country Status (6)

Country Link
US (2) US8180497B2 (fr)
EP (1) EP2348807B1 (fr)
ES (1) ES2427868T3 (fr)
FR (1) FR2936682B1 (fr)
NZ (1) NZ591716A (fr)
WO (1) WO2010040760A1 (fr)

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US11292674B1 (en) 2020-12-10 2022-04-05 S-M Enterprises, Inc. Bucket elevator adjustable guide system

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Also Published As

Publication number Publication date
ES2427868T3 (es) 2013-11-04
FR2936682B1 (fr) 2013-02-15
US20120192539A1 (en) 2012-08-02
US8180497B2 (en) 2012-05-15
US20110203247A1 (en) 2011-08-25
FR2936682A1 (fr) 2010-04-09
NZ591716A (en) 2012-08-31
EP2348807A1 (fr) 2011-08-03
WO2010040760A1 (fr) 2010-04-15

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